Mirror assembly

ABSTRACT

The present disclosure relates to optical systems, specifically light detection and ranging (LIDAR) systems. An example optical system includes a laser light source operable to emit laser light along a first axis and a mirror element with a plurality of reflective surfaces. The mirror element is configured to rotate about a second axis. The plurality of reflective surfaces is disposed about the second axis. The mirror element and the laser light source are coupled to a base structure, which is configured to rotate about a third axis. While the rotational angle of the mirror element is within an angular range, the emitted laser light interacts with both a first reflective surface and a second reflective surface of the plurality of reflective surfaces and is reflected into the environment by the first and second reflective surfaces.

BACKGROUND

Unless otherwise indicated herein, the materials described in thissection are not prior art to the claims in this application and are notadmitted to be prior art by inclusion in this section.

Light detection and ranging (LIDAR) systems utilize laser light toprovide information about objects in an environment. For example, LIDARsystems can provide map data about a physical environment. Some LIDARsystems include a scanning assembly configured to direct the laser lightaround the environment. Such scanning assemblies may include one or moremoving mirrors.

SUMMARY

The present disclosure generally relates to an optical system with amoving mirror assembly. In some embodiments, the moving mirror assemblymay be configured to rotate so as to direct laser light around anenvironment of the optical system. As described herein, somearrangements of the laser light source and the mirror assembly mayprovide a very broad scanning angle (e.g., greater than 230 degrees),which may allow for more comprehensive object mapping within a givenenvironment.

In a first aspect, a system is provided. The system includes a laserlight source operable to emit laser light along a first axis. The systemalso includes a mirror element with a plurality of reflective surfaces.The mirror element is configured to rotate about a second axis. Theplurality of reflective surfaces is disposed about the second axis. Themirror element and the laser light source are coupled to a basestructure. The base structure is configured to rotate about a thirdaxis. The system further includes a controller configured to carry outoperations. The operations include causing the mirror element to rotateabout the second axis. The rotation about the second axis includes afirst angular range and a second angular range. The operations includecausing the laser light source to emit laser light along the first axissuch that the emitted laser light interacts with the mirror element.While the rotational angle of the mirror element is within the firstangular range, the emitted laser light interacts with a first reflectivesurface of the plurality of reflective surfaces and is reflected into anenvironment by the first reflective surface. While the rotational angleof the mirror element is within the second angular range, the emittedlaser light interacts with both the first reflective surface and asecond reflective surface of the plurality of reflective surfaces and isreflected into the environment by the first and second reflectivesurfaces. The operations further include causing the base structure torotate about the third axis.

In a second aspect, an optical system is provided. The optical systemincludes a laser light source operable to emit laser light along a firstaxis. The optical system also includes a mirror element having aplurality of reflective surfaces. The mirror element is configured torotate about a second axis. The rotation about the second axis includesa first angular range and a second angular range. The plurality ofreflective surfaces is disposed about the second axis. The mirrorelement and the laser light source are coupled to a base structure. Thebase structure is configured to rotate about a third axis. While therotational angle of the mirror element is within the first angularrange, the emitted laser light interacts with a first reflective surfaceof the plurality of reflective surfaces and is reflected into anenvironment by the first reflective surface. While the rotational angleof the mirror element is within the second angular range, the emittedlaser light interacts with both the first reflective surface and asecond reflective surface of the plurality of reflective surfaces and isreflected into the environment by the first and second reflectivesurfaces. The optical system includes at least one beam stop. The atleast one beam stop is configured to prevent laser light from beingemitted into the environment at angles outside an emission angle range.

Other aspects, embodiments, and implementations will become apparent tothose of ordinary skill in the art by reading the following detaileddescription, with reference where appropriate to the accompanyingdrawings.

BRIEF DESCRIPTION OF THE FIGURES

FIG. 1 illustrates a system, according to an example embodiment.

FIG. 2A illustrates an optical system, according to an exampleembodiment.

FIG. 2B illustrates an optical system, according to an exampleembodiment.

FIG. 2C illustrates an optical system, according to an exampleembodiment.

FIG. 3A illustrates an optical system, according to an exampleembodiment.

FIG. 3B illustrates an optical system, according to an exampleembodiment.

FIG. 3C illustrates a reflected light angle versus mirror elementreference angle graph, according to an example embodiment.

FIG. 3D illustrates an optical system, according to an exampleembodiment.

FIG. 4 illustrates a mirror element, according to an example embodiment.

FIG. 5 illustrates an optical system, according to an exampleembodiment.

FIG. 6 illustrates a method, according to an example embodiment.

DETAILED DESCRIPTION

Example methods, devices, and systems are described herein. It should beunderstood that the words “example” and “exemplary” are used herein tomean “serving as an example, instance, or illustration.” Any embodimentor feature described herein as being an “example” or “exemplary” is notnecessarily to be construed as preferred or advantageous over otherembodiments or features. Other embodiments can be utilized, and otherchanges can be made, without departing from the scope of the subjectmatter presented herein.

Thus, the example embodiments described herein are not meant to belimiting. Aspects of the present disclosure, as generally describedherein, and illustrated in the figures, can be arranged, substituted,combined, separated, and designed in a wide variety of differentconfigurations, all of which are contemplated herein.

Further, unless context suggests otherwise, the features illustrated ineach of the figures may be used in combination with one another. Thus,the figures should be generally viewed as component aspects of one ormore overall embodiments, with the understanding that not allillustrated features are necessary for each embodiment.

I. Overview

Alight distance and ranging system (e.g., a LIDAR) may include a laserlight source configured to illuminate a mirror along a first axis. Themirror may be configured to rotate about a second axis, in which thesecond axis is perpendicular to the first axis. In an exampleembodiment, the mirror may include three mirror surfaces arranged in anequilateral triangle arrangement. While rotating about the second axis,the mirror may be configured to direct the light from the laser lightsource into an environment of the system over a wide field of view(e.g., greater than 230 degrees about the second axis). By directing thelight over such a large angular field of view, the LIDAR system mayprovide ranging information within a larger three-dimensional volume.

In some embodiments, the laser light source may illuminate two of thethree sides of the mirror at the same time. In such situations, beamstops may be positioned to prevent multiple simultaneousreadings/signals. In an example embodiment, the mirror may be configuredto provide interlaced scanning of the environment around the LIDARsystem. For instance, the mirror, its operating characteristics (e.g.,rate of rotation), and a pulse rate of the laser light source mayprovide a first set of scan locations during a first scan. Subsequently,by continuing to rotate the mirror while keeping the other operatingcharacteristics the same, the laser light may be directed towards asecond set of scan locations. In some embodiments, the first set of scanlocations may be interleaved with the second set of scan locations suchthat the laser light emitted from the laser light source is provided inan evenly distributed fashion (e.g., in angle about the second axis).

In an example embodiment, the mirror may rotate about the second axis ata rotational frequency, Ω, which could be about 30,000 revolutions perminute or 30 kRPM. Furthermore, the mirror and the laser light sourcemay rotate about a third axis at a rotational frequency, Φ, which couldbe about 600 RPM. However, other rotational frequencies are possible. Inan example embodiment, an interlaced condition may occur when Ω/Φ=2N+1,where N is an integer.

II. Example Systems

FIG. 1 illustrates a system 100, according to an example embodiment. Thesystem 100 may be, or may represent a portion of, a light detection andranging (LIDAR) system. In example embodiments, system 100 may be aLIDAR system configured to provide information about an environment. Forexample, system 100 may be a LIDAR system for an autonomous vehicle,such as a self-driving car or an autonomous aerial vehicle.

System 100 includes a laser light source 110. In example embodiments,the laser light source 110 may be operable to emit laser light along afirst axis. The laser light source 110 could be any source of laserlight configured to provide substantially collimated and/or coherentlight. For instance, the laser light source 110 could be a semiconductorwaveguide laser, a fiber laser, an excimer laser, or another type oflaser system.

In example embodiments, the light emitted from the laser light source110 may include pulses of laser light. For instance, the laser lightpulses may have durations in the 1-100 nanosecond range. However, otherlaser light pulse durations are possible.

The laser light emitted by the laser light source 110 may have anemission wavelength within the infrared (IR) wavelength range, howeverother wavelengths are contemplated. For example, the emission wavelengthcould be in the visible wavelength spectrum or the ultraviolet (UV)wavelength spectrum. In an example embodiment, the emission wavelengthmay be about 905 nanometers. Alternatively, the emission wavelengthcould be about 1.55 microns.

System 100 also includes a mirror element 120 with a plurality ofreflective surfaces 122. Specifically, the reflective surfaces 122 maybe configured to reflect light at, or substantially at, the emissionwavelength. In some embodiments, the reflective surfaces 122 may beformed from, and/or coated with, a metal, such as aluminum, gold,silver, or another reflective material. Additionally or alternatively,the reflective surfaces 122 may include a high reflectance (HR) coating.In an example embodiment, the HR coating may include a dielectric stackconfigured to reflect incident light at the emission wavelength. Thedielectric stack may include, for example, a periodic layer systemalternating between two materials having different indices ofrefraction. Other types of HR coatings are possible and contemplatedherein.

In some example embodiments, the mirror element 120 may include threereflective surfaces 122 a, 122 b, and 122 c. Mirror elements 120 havingmore or less reflective surfaces 122 are contemplated. For example, themirror element 120 could include four or more reflective surfaces.

The mirror element 120 is configured to rotate about a second axis.Furthermore, in some embodiments, the plurality of reflective surfacesmay be disposed about the second axis. In such scenarios, the mirrorelement 120 may be prism-shaped and each facet of the prism shape may bea reflective surface 122. In other words, the reflective surfaces 122 a,122 b, and 122 c may be arranged symmetrically about the second axissuch that the mirror element 120 has a triangular prism shape. As anexample, the first axis and the second axis may be perpendicular withrespect to one another, however other arrangements of the first axis andthe second axis are contemplated. In some embodiments, the first axismay intersect with the second axis.

System 100 additionally includes a base structure 130. The mirrorelement 120 and the laser light source 110 may be coupled to the basestructure 130. In some embodiments, the base structure 130 may beconfigured to rotate about a third axis. While a variety of arrangementsof the third axis are contemplated, an example embodiment includes thethird axis being parallel to or collinear with the first axis.

System 100 further includes one or more beam stops 140. The beam stop(s)140 may be configured to prevent laser light from being reflected intothe environment at angles outside a predetermined emission angle range.Additionally or alternatively, beam stop(s) 140 may be positioned so asto prevent multiple simultaneous readings/signals. In exampleembodiments, the emission angle range could be expressed as the range ofangles with respect to the mirror element 120 that may receive laserlight emission from system 100. In other words, the emission angle rangemay represent the angles from which ranging information may be obtainedfrom the environment around the system 100. In some embodiments, theemission angle range may be defined with respect to the second axis. Insuch scenarios, the emission angle range may be greater than 230degrees.

The system 100 includes a controller 150 configured to carry outoperations. In example embodiments, the controller 150 may include oneor more logic blocks, a programmable logic device (PLD), a fieldprogrammable gate array (FPGA), and/or an application-specificintegrated circuit (ASIC). Other types of controller circuits arecontemplated in the present disclosure. In some embodiments, thecontroller 150 may include one or more processors 152 and a memory 154.In such scenarios, the processor(s) 152 may be configured to executeinstructions stored in the memory 154 so as to carry out the operations.

The operations include causing the mirror element 120 to rotate aboutthe second axis. As an example, the mirror element 120 may rotate aboutthe second axis at rotational frequency Ω. The rotation about the secondaxis includes a first angular range and a second angular range. In someembodiments, the mirror element 120 may rotate about the second axis ata rotational frequency of about 30 kRPM. Other rotational frequencies ofmirror element 120 are possible. For example, the mirror element 120 mayrotate about the second axis within a rotational frequency range between100 RPM and 100 kRPM.

The operations also include causing the laser light source 110 to emitlaser light along the first axis such that the emitted laser lightinteracts with the mirror element 120.

The operations additionally include, while the rotational angle of themirror element 120 is within the first angular range, causing theemitted laser light to interact with a first reflective surface (e.g.,122 a) of the plurality of reflective surfaces 122. Upon interactingwith the first reflective surface, the reflected laser light isreflected into an environment by the first reflective surface.

The operations also include, while the rotational angle of the mirrorelement is within the second angular range, causing the emitted laserlight to interact with both the first reflective surface (e.g., 122 a)and a second reflective surface (e.g., 122 b) of the plurality ofreflective surfaces 122. The reflected laser light is reflected into theenvironment by the first and second reflective surfaces.

The operations also include causing the base structure 130 to rotateabout the third axis. The base structure may rotate about the third axisat rotational frequency Φ. As an example, the base structure 130 mayrotate about the third axis at a rotational frequency of about 600 RPM.Other rotational frequencies are possible. For instance, the basestructure 130 may rotate about the third axis at rotational frequenciesbetween 10 RPM and 10 kRPM.

The system 100 also includes one or more actuators 160. The actuators160 may include DC motors configured to rotate the mirror element 120and/or the base structure 130. Furthermore, the actuator 160 may includean actuator to adjust a position and/or angle of the laser light source110. In some embodiments, the actuators 160 may include one or moreactuators configured to adjust a position and/or angle of the beamstop(s) 140. That is, in such a scenario, the actuators 160 may move thebeam stops 140 so as to adjust the emission angle range and/or avoidmultiple simultaneous readings.

Optionally, the operations may also include, while the rotational angleof the mirror element is within a third angular range, causing theemitted laser light to interact with a third reflective surface (e.g.,122 c) of the plurality of reflective surfaces. In such scenarios, thereflected laser light may be reflected into the environment by the thirdreflective surface.

In some embodiments, the operations further include operating the systemin an interlaced condition. In such scenarios, the interlaced conditionmay occur when Ω/Φ=2N+1, where N is an integer. An interlaced conditionmay provide a desired laser scanning pattern for scanning thethree-dimensional environment around the system 100. Namely, the desiredlaser scanning pattern may include overlapping scanning areas and/or mayprovide for less time between subsequent scans for a given locationwithin the environment. Reducing the time between subsequent scans mayprovide better safety as more up-to-date information may be availableabout the environment, such as map data and/or object data.

In some embodiments, causing the laser light source 110 to emit laserlight may include causing the laser light source to emit laser lightpulses based on at least one of rotational frequency Ω or rotationalfrequency Φ.

FIGS. 2A, 2B, and 2C illustrate optical systems according to variousexample embodiments. The optical systems described in relation to FIGS.2A, 2B, and 2C may be similar or identical to the system 100 illustratedand described with regard to FIG. 1. FIG. 2A illustrates an opticalsystem 200, according to an example embodiment. In some embodiments,optical system 200 may be part of a laser-based distance and ranging(LIDAR) system.

The optical system 200 includes a laser light source 210 that may beoperable to emit laser light along a first axis 214. As illustrated inFIG. 2A, the first axis 214 may be along (or parallel to) they-direction. As such, the laser light source 210 may emit laser light212 along the y-axis. As described with regard to laser light source110, laser light source 210 may include a semiconductor laser, a fiberlaser, or another type of light source configured to provide a coherentpulse of light.

The optical system 200 also includes a mirror element 220. The mirrorelement 220 includes a plurality of reflective surfaces 222 a, 222 b,and 222 c. The mirror element 220 is configured to rotate about a secondaxis 224. As illustrated in FIG. 2A, the second axis 224 may be parallelto the z direction. The plurality of reflective surfaces 222 is disposedabout the second axis 224. For example, the plurality of reflectivesurfaces 222 may include three reflective surfaces (222 a, 222 b, and222 c) arranged symmetrically about the second axis such that the mirrorelement 220 has a triangular prism shape.

In some embodiments, the first axis (e.g., the axis along which laserlight 212 is emitted) may intersect the second axis 224. Furthermore,the first axis 214 may be perpendicular to the second axis 224.

In example embodiments, the optical system 200 also includes a mirrorelement actuator configured to rotate the mirror element 220 about thesecond axis at rotational frequency Ω. The mirror element actuator mayinclude a stepper motor, a brushed or brushless DC motor, or anothertype of rotational actuator. In other words, the mirror element actuatormay be configured to rotate the mirror element 220 in a desireddirection 226 at a desired rotational frequency Ω.

Although not expressly depicted in FIG. 2A, the mirror element 220 andthe laser light 210 source are coupled to a base structure 230. In someembodiments, the base structure 230 is configured to rotate about athird axis. Furthermore, in an example embodiment, the third axis may becoaxial with the first axis 214 (e.g., the y-axis). In some embodiments,the optical system 200 includes a base structure actuator configured torotate the base structure in a desired direction 232 about the thirdaxis at rotational frequency Φ. The base structure actuator may includea rotational actuator such as a stepper motor or a brushed or brushlessDC motor.

The optical system 200 also includes at least one beam stop 240. Thebeam stop 240 may include one or more beam dumps, optically opaquematerials, and/or beam blocking materials. The beam stop 240 may beformed from a polymer, metal, fabric, or other materials. The at leastone beam stop 240 may be configured to prevent laser light from beingemitted into the environment at angles outside an emission angle range.In an example embodiment, the emission angle range may be greater than230 degrees about the second axis 224. As described herein, the beamstop 240 may be positioned to prevent multiple simultaneousreadings/signals.

In example optical systems, while a rotational angle of the mirrorelement 220 is within a first angular range, the emitted laser light 212interacts with a first reflective surface 222 a of the plurality ofreflective surfaces 222 and is reflected as reflected light 216 into anenvironment by the first reflective surface 222 a. In some embodiments,the emitted laser light 212 may have a beam width, such as 2millimeters. Other beam widths are possible.

Furthermore, in some embodiments, while the rotational angle of themirror element 220 is within a second angular range, the emitted laserlight 212 interacts with both the first reflective surface 222 a and asecond reflective surface 222 b of the plurality of reflective surfaces222. In such a scenario, the emitted laser light 212 is reflected asreflected light 216 into the environment by the first and secondreflective surfaces 222 a and 222 b. Put another way, as describedabove, the emitted laser light 212 may have a beam width of 2millimeters. A first portion (e.g., a first half of the beam width) ofthe emitted laser light 212 may interact with the first reflectivesurface 222 a and a second portion (e.g., a second half of the beamwidth) of the emitted laser light 212 may interact with the secondreflective surface 222 b.

FIG. 2B illustrates an optical system 250, according to an exampleembodiment. Optical system 250 may be similar or identical to opticalsystem 200, illustrated and described in reference to FIG. 2A. Opticalsystem 250 may include a housing 252. The housing 252 may be opticallytransparent to the wavelength(s) of the emitted light 212 and reflectedlight 216. For example, housing 252 may be more than 90% transparent tothe reflected light 216. In example embodiments, the housing 252 may becoupled to the beam stop 240 and the mirror element 220.

FIG. 2C illustrates an optical system 260, according to an exampleembodiment. The optical system 260 may be similar or identical tooptical systems 200 and 250 as illustrated and described in reference toFIGS. 2A and 2B. In an example embodiment, the mirror element 220 may beoriented at a given angle with respect to the second axis 224 such thatincident laser light 212 interacts with two reflective surfaces of themirror element 220. That is, laser light 212 may interact with firstreflective surface 222 a and second reflective surface 222 b. The laserlight 212 may be reflected in a first portion as reflected light 264 andin a second portion as reflected light 266. The range of angles betweenreflected light 264 and reflected light 266 may define an emission anglerange 268. The emission angle range 268 may be more than 230 degrees.

FIGS. 3A and 3B illustrate two different orientations of the mirrorelement 220 in optical system 300. Optical system 300 may be similar oridentical to optical systems 200, 250, and 260 as illustrated anddescribed with reference to FIGS. 2A, 2B, and 2C.

Namely, as illustrated in FIG. 3A, the mirror element 220 may beoriented such that an angle 303 between reference marker 302 and firstaxis 214 is approximately 15 degrees. In such a scenario, laser light212 emitted from the laser light source 210 may interact with reflectivesurface 222 a to form reflected light 304. For example, upon interactingwith the reflective surface 222 a, the reflected light 304 may bedirected at a +90 degree angle with respect to first axis 214.

As illustrated in FIG. 3B, the mirror element 220 may be oriented suchthat reference marker 312 is oriented along first axis 214. In such ascenario, laser light 212 emitted from the laser light source 210 mayinteract with both reflective surface 222 a and reflective surface 222 cto provide two different reflected light rays. For example, uponinteracting with reflective surface 222 a and reflective surface 222 c,the emitted laser light 212 may be reflected as reflected light 314 andreflected light 316. In some embodiments, an emission angle rangebetween reflected light 314 and reflected light 316 could be more than230 degrees.

FIG. 3C illustrates a reflected light angle versus mirror elementreference angle graph 330, according to an example embodiment. The graph330 shows how the reflected light angle changes as the mirror element220 rotates about the second axis 224. In example embodiments, thereflected light angle may be defined as an angle between the reflectedlight ray (e.g., reflected light 304) and the first axis 214. The graph330 illustrates the three-fold symmetry when the mirror element 220 isshaped like a triangular prism. It will be understood that if the mirrorelement 220 takes on a different shape (e.g., a rectangular solid), theangle symmetry and emission angle range may change accordingly.

Graph point 332 illustrates the scenario described in FIG. 3A. Namely,when the mirror element reference angle 303 is approximately 15 degrees,the reflected light angle of reflected light 304 may be approximately+90 degrees.

Furthermore, graph points 334 and 336 illustrate the scenario describedwith reference to FIG. 3B. Namely, when the mirror element referenceangle is zero degrees, emission light 212 may be reflected via the tworeflective surfaces 222 a and 222 b. In such a scenario, reflected light314 may relate to graph point 334 (e.g., reflected light angle of +115degrees) and reflected light 316 may relate to graph point 336 (e.g.,reflected light angle of −115 degrees). It will be understood that graph330 illustrates an example embodiment and that many other reflectedlight angle and mirror element reference angle relationships arepossible. All such other relationships are contemplated herein.

In some embodiments, as illustrated in graph 330, emission light may bereflected in two different directions within an overlap range. As anexample, overlap range 338 may represent a mirror element referenceangle range over which the emission light is reflected in differentdirections. This overlap range 338 represents a range of angles of themirror element 220 in which the laser light interacts with tworeflective surfaces of the mirror element 220. Outside of this overlaprange 338, the laser light interacts with only one reflective surface ofthe mirror element 220. This overlap range 338 may repeat based onsymmetry of the mirror element 220. In graph 330, the overlap range 338could be approximately 10 degrees wide, but other overlap ranges arepossible. In some embodiments, the overlap range 338 may be adjustedbased on the emission beam spot size, mirror element facet geometry,and/or beam stop position.

FIG. 3D illustrates an optical system 340, according to an exampleembodiment. Specifically, FIG. 3D illustrates a further possibleorientation of the mirror element 220. For example, mirror element 220may rotate counterclockwise with respect to the scenario illustrated inFIG. 3B. That is, the mirror element 220 may be oriented such thatreference marker 342 is oriented approximately 1 degree counterclockwisewith respect to the first axis 214. In such a scenario, laser light 212emitted from the laser light source 210 may interact with bothreflective surface 222 a and reflective surface 222 c to provide twodifferent reflected light rays 344 and 346. However, in contrast to FIG.3B, the reflected light rays 344 and 346 need not be reflected at thesame angle with respect to the first axis 214 and need not have asimilar beam width or beam size. For example, upon interacting withreflective surface 222 a and reflective surface 222 c, the emitted laserlight 212 may be reflected as reflected light 344 and reflected light346. In such a scenario, based at least on a larger portion of laserlight 212 interacting with reflective surface 222 a, reflected light 344may have a larger beam size. Conversely, reflected light 346 may have asmaller beam size because a smaller portion of laser light 212 interactswith reflective surface 222 c. Furthermore, based on the position ofbeam stop 240, reflected light 344 may be emitted into the environmentaround the optical system 340 whereas reflected light 346 may be“stopped,” absorbed, or otherwise attenuated by the beam stop 240.

While FIGS. 2A, 2B, 2C, 3A, 3B, and 3D illustrate laser light 212 ashaving a certain beam width, it will be understood that laser light 212may have a beam width that is larger or smaller in relation to themirror element 220. In example embodiments, the laser light 212 may havea beam width that is a larger fraction of the mirror size. In suchscenarios, in reference to FIG. 3C, a full mirror revolution may includea larger angular range where the laser light 212 is split into tworeflected beams.

Furthermore, while FIGS. 2A, 2B, 2C, 3A, 3B, and 3D illustrate laserlight source 210 as being arranged so as to emit laser light 212 along afirst axis 214 that intersects the second axis 224, other arrangementsare possible. For example, in some embodiments, laser light source 210may be arranged so as to emit laser light 212 along an axis that doesnot intersect the second axis 224. For instance, laser light source 210may be arranged off-axis, tilted, or shifted away from the first axis214 and/or the second axis 224. Such asymmetric arrangements may providegreater angle coverage and/or higher resolution coverage along one sideof the mirror element 220 as compared to another side. In an exampleembodiment, the laser light source 210 may be positioned with respect tothe mirror element 220 so as to provide greater angular coverage for aportion of the environment located within particularly desirable angularranges (e.g., −45 degrees to +20 degrees from horizontal). Otherarrangements of laser light source 210 and design considerations withregard to such arrangements are possible and contemplated herein.

FIG. 4 illustrates a mirror element 400, according to an exampleembodiment. Mirror element 400 may be similar to mirror elements 120 or220 as illustrated and described with reference to FIGS. 1, 2A, 2B, 2C,3A, and 3B. Mirror element 400 may include reflective surfaces 422 a,422 b, and 422 c. The reflective surfaces 422 a, 422 b, and 422 c may beconfigured to be highly reflective for incident laser light 450 at oraround a given emission wavelength. For example, the reflective surfaces422 a, 422 b, and 422 c may reflect more than 90% of incident lighthaving an emission wavelength of 1.55 microns.

Mirror element 400 may additionally include a spindle 430. The mirrorelement 400 may be configured to rotate about the spindle 430, which maybe along a rotational axis 432. The rotational axis 432 may be similaror identical to second axis 224 as illustrated in FIGS. 2A, 2B, 2C, 3A,and 3B and described elsewhere herein. Namely, spindle 430 and mirrorelement 400 may be configured to rotate in a clockwise and/or counterclockwise direction with respect to the rotational axis 432. In someembodiments, the spindle 430 may be rotated via a mirror elementactuator (e.g., a DC motor or a stepper motor).

In some embodiments, the mirror element 400 may be hollow, at least inpart. That is, at least some material in an inner portion 410 of themirror element 400 may be removed. Namely, inner portion 410 may beempty or may include air.

As the mirror element 400 rotates about the rotational axis 432,incident light may be reflected from one or more reflective surfaces ofthe mirror element toward an environment of the mirror element 400. Forexample, as illustrated in FIG. 4, incident laser light 450 may interactwith the first reflective surface 422 a at an interaction location 424.An angle of incidence of the incident laser light 450 with respect tothe reflective surface 422 a may determine a reflectance angle forreflected light 452.

FIG. 5 illustrates an optical system 500, according to an exampleembodiment. The optical system 500 may be, at least in part, similar oridentical to optical systems 200, 250, 260, and 300 and mirror element400 as illustrated and described with regard to FIGS. 2A, 2B, 2C, 3A,3B, and 4. For example, optical system 500 may include a mirror element508 having reflective surfaces 510 a, 510 b, and 510 c. The mirrorelement 508 may be coupled to spindle 512, which may be configured torotate about an axis of rotation 514.

Similar to optical system 200, optical system 500 may include beam stop520 and a laser light source 530. In an example embodiment, the laserlight source 530 may emit laser light 534 via an optical element 532(e.g., a lens and/or a diffuser). The emitted laser light 534 mayinteract with the reflective surface 510 a and be reflected into theenvironment of the optical system.

The optical system 500 may also include an optical receiver 540. Theoptical receiver 540 may be configured to receive light 544 from theenvironment around the optical system 200 via an optical element 542(e.g., a condenser lens). Based on the received light 544, the opticalreceiver 540 may provide information about a scene of the environmentaround the optical system 200. The optical receiver 540 may include adetector array. The detector array may include a plurality of singlephoton avalanche detectors (SPADs). Additionally or alternatively, thedetector array may include other types of photodetectors configured todetect light 544.

The laser light source 530 and the portion of the mirror element 508upon which the emitted laser light 534 is incident may be termed thetransmit path. The portion of the mirror element 508 with which thereceived light 544 interacts and the optical receiver 540 may be termedthe receive path. In embodiments illustrated herein, the transmit pathand the receive path may be parallel. In such a scenario, the transmitpath and receive path may be arranged so that a laser light pulse istransmitted into the environment, interacts with the environment (e.g.,via reflection from an object) and is reflected back to the receiver.The transmit path and the receive path may be segregated to reduce noiseand avoid cross talk and/or false signals. Accordingly, the opticalsystem 200 may include a light baffle 550 that may be positioned betweenthe transmit path and the receive path.

The optical system 500 may include a base portion 560 that may becoupled to the optical receiver 540, the laser light source 530, thebeam stop 520, and an actuator configured to rotate the mirror element508. Namely, the base portion 560 may be configured to rotate about athird axis 562, which may be parallel to the transmit path and/or thereceive path.

III. Example Methods

FIG. 6 illustrates a method 600, according to an example embodiment.Method 600 may include one or more steps or blocks, which may be carriedout in any order. Furthermore, steps or blocks may be added or removedwithin the scope of the present disclosure. The steps or blocks ofmethod 600 may be carried out once, continuously, periodically, or overdiscrete amounts of time.

Method 600 may include operations carried out entirely, or in part, bycontroller 150 as illustrated and described in reference to FIG. 1.Furthermore, method 600 may be carried out in association with, or byutilizing, some or all elements of system 100, optical systems 200, 250,260, 300, or 500, or mirror element 400 as illustrated and described inreference to FIGS. 1, 2A, 2B, 2C, 3A, 3B, 4, and 5.

Block 602 includes causing a laser light source to emit laser lightalong the first axis such that the emitted laser light interacts with amirror element.

Block 604 includes causing the mirror element to rotate about a secondaxis. The mirror element may rotate about the second axis at rotationalfrequency Ω. In some embodiments, the mirror element may rotate aboutthe second axis at a rotational frequency of about 30 kRPM. Otherrotational frequencies of mirror element are possible. For example, themirror element may rotate about the second axis within a rotationalfrequency range between 100 RPM and 100 kRPM.

In an example embodiment, the mirror element includes a plurality ofreflective surfaces. The plurality of reflective surfaces are disposedabout the second axis. The mirror element and the laser light source arecoupled to a base structure. The base structure is configured to rotateabout a third axis.

In some embodiments, the rotation of the mirror element about the secondaxis includes a first angular range and a second angular range. Theinteraction between the emitted laser light and the mirror element maybe different based on whether the mirror element is within the firstangular range or the second angular range. For example, while therotational angle of the mirror element is within the first angularrange, the emitted laser light may interact with only one reflectivesurface (e.g., a first reflective surface) of the plurality ofreflective surfaces. In such a scenario, the laser light is reflectedinto an environment by the first reflective surface.

However, while the rotational angle of the mirror element is within thesecond angular range, the emitted laser light may interact with both thefirst reflective surface and a second reflective surface of theplurality of reflective surfaces. In such a scenario, the emitted laserlight may be reflected into the environment by the first reflectivesurface and the second reflective surface.

Block 406 includes causing the base structure to rotate about the thirdaxis. The base structure may rotate about the third axis at rotationalfrequency Φ. As an example, the base structure may rotate about thethird axis at a rotational frequency of about 600 RPM. Other rotationalfrequencies are possible. For instance, the base structure 130 mayrotate about the third axis at rotational frequencies between 10 RPM and10 kRPM.

In some embodiments, the method 600 may also include operating theoptical system in an interlaced condition. In some embodiments, theinterlaced condition may provide information about the environment withhigher resolution (e.g., by utilizing interleaved scan points). In suchscenarios, the interlaced condition may occur when Ω/Φ=2N+1, where N isan integer. An interlaced condition may provide a desired laser scanningpattern for scanning the three-dimensional environment around theoptical system.

In some embodiments, the interlaced condition may provide for saferoperation of LIDAR-equipped vehicles at least because more closelyspaced scan locations may allow easier detection of a small object at agiven distance. For example, a non-interlaced condition may include scanlocations that are spaced 4 inches from one another at a range of 10feet. In an example embodiment, an interlaced condition may provide scanlocations that are spaced 2 inches from one another at a range of 10feet. It will be understood that other ways of interlacing or varying aset of scan locations between an initial scan and a subsequent scan soas to increase scanning resolution are contemplated herein.

In some embodiments, the interlaced condition may include a higher orderinterlacing scenario where it may take 3, 4, or more revolutions of themirror element before a given scan location is “rescanned” with a laserlight pulse. In such a scenario, Ω/Φ=(N×k)+1, where N is an integer andk is the number of complete revolutions of the mirror element before alaser light pulse is emitted along the same axis with respect to themirror element and/or the system generally.

In other embodiments, an irrational interlacing condition is possible.That is, the irrational interlacing condition could include a scenarioin which the succession of laser light pulses is arranged such thatpulses are never quite emitted along the same axis as prior pulses. Insuch a scenario, Ω/Φ may be an irrational value (e.g., a value thatcannot be expressed as a ratio of integers). It will be understood thatother operational modes are possible for controlling how laser lightpulses are emitted into the environment.

The particular arrangements shown in the Figures should not be viewed aslimiting. It should be understood that other embodiments may includemore or less of each element shown in a given Figure. Further, some ofthe illustrated elements may be combined or omitted. Yet further, anillustrative embodiment may include elements that are not illustrated inthe Figures.

A step or block that represents a processing of information cancorrespond to circuitry that can be configured to perform the specificlogical functions of a herein-described method or technique.Alternatively or additionally, a step or block that represents aprocessing of information can correspond to a module, a segment, or aportion of program code (including related data). The program code caninclude one or more instructions executable by a processor forimplementing specific logical functions or actions in the method ortechnique. The program code and/or related data can be stored on anytype of computer readable medium such as a storage device including adisk, hard drive, or other storage medium.

The computer readable medium can also include non-transitory computerreadable media such as computer-readable media that store data for shortperiods of time like register memory, processor cache, and random accessmemory (RAM). The computer readable media can also includenon-transitory computer readable media that store program code and/ordata for longer periods of time. Thus, the computer readable media mayinclude secondary or persistent long term storage, like read only memory(ROM), optical or magnetic disks, compact-disc read only memory(CD-ROM), for example. The computer readable media can also be any othervolatile or non-volatile storage systems. A computer readable medium canbe considered a computer readable storage medium, for example, or atangible storage device.

While various examples and embodiments have been disclosed, otherexamples and embodiments will be apparent to those skilled in the art.The various disclosed examples and embodiments are for purposes ofillustration and are not intended to be limiting, with the true scopebeing indicated by the following claims.

1. A system comprising: a laser light source operable to emit laserlight along a first axis; a mirror element comprising a plurality ofreflective surfaces, wherein the mirror element is configured to rotateabout a second axis, wherein the plurality of reflective surfaces isdisposed about the second axis, wherein the mirror element and the laserlight source are coupled to a base structure, wherein the base structureis configured to rotate about a third axis; and a controller configuredto carry out operations, the operations comprising: causing the mirrorelement to rotate about the second axis, wherein the rotation about thesecond axis comprises a first angular range and a second angular range;causing the laser light source to emit laser light along the first axissuch that the emitted laser light interacts with the mirror element,wherein: while a rotational angle of the mirror element is within thefirst angular range, the emitted laser light interacts with a firstreflective surface of the plurality of reflective surfaces and isreflected into an environment by the first reflective surface; and whilethe rotational angle of the mirror element is within the second angularrange, the emitted laser light interacts with both the first reflectivesurface and a second reflective surface of the plurality of reflectivesurfaces and is reflected into the environment by the first and secondreflective surfaces; and causing the base structure to rotate about thethird axis.
 2. The system of claim 1, further comprising at least onebeam stop, wherein the at least one beam stop is configured to preventlaser light from being reflected into the environment at angles outsidean emission angle range.
 3. The system of claim 1, wherein the pluralityof reflective surfaces comprises three reflective surfaces arrangedsymmetrically about the second axis such that the mirror element has atriangular prism shape.
 4. The system of claim 3, wherein while therotational angle of the mirror element is within a third angular range,the emitted laser light interacts with a third reflective surface of theplurality of reflective surfaces and is reflected into the environmentby the third reflective surface.
 5. The system of claim 1, wherein thefirst axis intersects with the second axis.
 6. The system of claim 1,wherein the first axis is perpendicular to the second axis.
 7. Thesystem of claim 1, wherein the emitted laser light is reflecting intothe environment through an emission angle range about the second axis,wherein the emission angle range is greater than 230 degrees.
 8. Thesystem of claim 1, wherein causing the mirror element to rotate aboutthe second axis comprises causing the mirror element to rotate about thesecond axis at about 30 kRPM.
 9. The system of claim 1, wherein causingthe base structure to rotate about the third axis comprises causing thebase structure to rotate about the third axis at about 600 RPM.
 10. Thesystem of claim 1, wherein causing the mirror element to rotate aboutthe second axis comprises causing the mirror element to rotate about thesecond axis at rotational frequency Ω, wherein causing the basestructure to rotate about the third axis comprises causing the basestructure to rotate about the third axis at rotational frequency Φ,wherein the operations further comprise operating the system in aninterlaced condition, wherein the interlaced condition occurs whileΩ/Φ=2N+1, where N is an integer.
 11. The system of claim 1, wherein thesystem is part of a laser-based distance and ranging system.
 12. Thesystem of claim 1, wherein causing the mirror element to rotate aboutthe second axis comprises causing the mirror element to rotate about thesecond axis at rotational frequency Ω, wherein causing the basestructure to rotate about the third axis comprises causing the basestructure to rotate about the third axis at rotational frequency Φ,wherein causing the laser light source to emit laser light comprisescausing the laser light source to emit laser light pulses based on atleast one of rotational frequency Ω or rotational frequency Φ.
 13. Anoptical system comprising: a laser light source operable to emit laserlight along a first axis; a mirror element comprising a plurality ofreflective surfaces, wherein the mirror element is configured to rotateabout a second axis, wherein the rotation about the second axiscomprises a first angular range and a second angular range, wherein theplurality of reflective surfaces is disposed about the second axis,wherein the mirror element and the laser light source are coupled to abase structure, wherein the base structure is configured to rotate abouta third axis, wherein: while a rotational angle of the mirror element iswithin the first angular range, the emitted laser light interacts with afirst reflective surface of the plurality of reflective surfaces and isreflected into an environment by the first reflective surface; and whilethe rotational angle of the mirror element is within the second angularrange, the emitted laser light interacts with both the first reflectivesurface and a second reflective surface of the plurality of reflectivesurfaces and is reflected into the environment by the first and secondreflective surfaces; and at least one beam stop, wherein the at leastone beam stop is configured to prevent laser light from being emittedinto the environment at angles outside an emission angle range.
 14. Theoptical system of claim 13, further comprising a mirror element actuatorconfigured to rotate the mirror element about the second axis atrotational frequency Ω.
 15. The optical system of claim 13, furthercomprising a base structure actuator configured to rotate the basestructure about the third axis at rotational frequency Φ.
 16. Theoptical system of claim 13, wherein the optical system is part of alaser-based distance and ranging system.
 17. The optical system of claim13, wherein the first axis intersects with the second axis.
 18. Theoptical system of claim 13, wherein the first axis is perpendicular tothe second axis.
 19. The optical system of claim 13, wherein theemission angle range is greater than 230 degrees about the second axis.20. The optical system of claim 13, wherein the plurality of reflectivesurfaces comprises three reflective surfaces arranged symmetricallyabout the second axis such that the mirror element has a triangularprism shape.